fix(mpc_lateral_controller): remove overlaps when calculating trajectory

maxime-clem · maxime-clem · commit feaf4b806bf7 · 2024-03-04T14:42:46.000+09:00
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp
@@ -289,6 +289,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)
       break;
     }
   }
+  output.points = motion_utils::removeOverlapPoints(output.points);
   return output;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -289,6 +289,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)`
`289`	`289`	`break;`
`290`	`290`	`}`
`291`	`291`	`}`
	`292`	`+ output.points = motion_utils::removeOverlapPoints(output.points);`
`292`	`293`	`return output;`
`293`	`294`	`}`
`294`	`295`